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clang-tidy: enable readability-simplify-boolean-expr and fix

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This commit is contained in:
Daniel Agar
2019-10-27 18:18:31 -04:00
parent 279df3b1b8
commit 967446af4c
15 changed files with 53 additions and 93 deletions
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src/modules/commander/Commander.cpp
+2 -4
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@@ -1983,16 +1983,14 @@ Commander::run()
/* handle the case where RC signal was regained */
if (!status_flags.rc_signal_found_once) {
status_flags.rc_signal_found_once = true;
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, true
&& status_flags.rc_calibration_valid, status);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, status_flags.rc_calibration_valid, status);
status_changed = true;
} else {
if (status.rc_signal_lost) {
mavlink_log_info(&mavlink_log_pub, "Manual control regained after %llums",
hrt_elapsed_time(&rc_signal_lost_timestamp) / 1000);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, true
&& status_flags.rc_calibration_valid, status);
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, status_flags.rc_calibration_valid, status);
status_changed = true;
}
}
src/modules/commander/PreflightCheck.cpp
+9 -9
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@@ -868,7 +868,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, veh
/* ---- BARO ---- */
if (checkSensors) {
bool prime_found = false;
//bool prime_found = false;
int32_t prime_id = -1;
param_get(param_find("CAL_BARO_PRIME"), &prime_id);
@@ -887,7 +887,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, veh
if (baroCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if ((prime_id > 0) && (device_id == prime_id)) {
prime_found = true;
//prime_found = true;
}
} else {
@@ -900,14 +900,14 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, veh
// TODO there is no logic in place to calibrate the primary baro yet
// // check if the primary device is present
if (!prime_found && false) {
if (reportFailures && !failed) {
mavlink_log_critical(mavlink_log_pub, "Primary barometer not operational");
}
// if (false) {
// if (reportFailures && !failed) {
// mavlink_log_critical(mavlink_log_pub, "Primary barometer not operational");
// }
set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE, false, true, false, status);
failed = true;
}
// set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE, false, true, false, status);
// failed = true;
// }
}
/* ---- IMU CONSISTENCY ---- */
src/modules/land_detector/MulticopterLandDetector.cpp
+5 -18
View File
@@ -165,12 +165,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
bool hit_ground = _in_descend && !vertical_movement;
// TODO: we need an accelerometer based check for vertical movement for flying without GPS
if ((_has_low_thrust() || hit_ground) && (!_horizontal_movement || !_has_position_lock())
&& (!vertical_movement || !_has_altitude_lock())) {
return true;
}
return false;
return (_has_low_thrust() || hit_ground) && (!_horizontal_movement || !_has_position_lock())
&& (!vertical_movement || !_has_altitude_lock());
}
bool MulticopterLandDetector::_get_maybe_landed_state()
@@ -215,12 +211,8 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8_s);
}
if (_ground_contact_hysteresis.get_state() && _has_minimal_thrust() && !rotating) {
// Ground contact, no thrust and no movement -> landed
return true;
}
return false;
// Ground contact, no thrust and no movement -> landed
return _ground_contact_hysteresis.get_state() && _has_minimal_thrust() && !rotating;
}
bool MulticopterLandDetector::_get_landed_state()
@@ -318,12 +310,7 @@ bool MulticopterLandDetector::_has_minimal_thrust()
bool MulticopterLandDetector::_get_ground_effect_state()
{
if (_in_descend && !_horizontal_movement) {
return true;
} else {
return false;
}
return _in_descend && !_horizontal_movement;
}
} // namespace land_detector
src/modules/land_detector/RoverLandDetector.cpp
+1 -5
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@@ -51,11 +51,7 @@ bool RoverLandDetector::_get_ground_contact_state()
bool RoverLandDetector::_get_landed_state()
{
if (!_actuator_armed.armed) {
return true;
}
return false;
return !_actuator_armed.armed;
}
} // namespace land_detector
src/modules/navigator/follow_target.cpp
+2 -2
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@@ -240,7 +240,7 @@ void FollowTarget::on_active()
case TRACK_POSITION: {
if (_radius_entered == true) {
if (_radius_entered) {
_follow_target_state = TRACK_VELOCITY;
} else if (target_velocity_valid()) {
@@ -259,7 +259,7 @@ void FollowTarget::on_active()
case TRACK_VELOCITY: {
if (_radius_exited == true) {
if (_radius_exited) {
_follow_target_state = TRACK_POSITION;
} else if (target_velocity_valid()) {
src/modules/navigator/mission_feasibility_checker.cpp
+23 -29
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@@ -352,35 +352,29 @@ MissionFeasibilityChecker::checkTakeoff(const mission_s &mission, float home_alt
return false;
}
if (missionitem.nav_cmd != NAV_CMD_IDLE &&
missionitem.nav_cmd != NAV_CMD_DELAY &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_NONE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
takeoff_first = false;
} else {
takeoff_first = true;
}
takeoff_first = !(missionitem.nav_cmd != NAV_CMD_IDLE &&
missionitem.nav_cmd != NAV_CMD_DELAY &&
missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_NONE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION);
}
}
src/modules/vtol_att_control/standard.cpp
+1 -1
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@@ -127,7 +127,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
// transition to mc mode
if (_vtol_vehicle_status->vtol_transition_failsafe == true) {
if (_vtol_vehicle_status->vtol_transition_failsafe) {
// Failsafe event, engage mc motors immediately
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
_pusher_throttle = 0.0f;